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Guilin Yang
Chinese Academy of Science, Ningbo, Zhejiang, China, 315201

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Journal article
Published: 27 July 2021 in IEEE/ASME Transactions on Mechatronics
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This paper presents a long stroke nanopositioning stage supported with annular flexure guides to be used in high precision optical instruments. Firstly, the structure of the novel annular flexure guide and the positioning stage is proposed. Because of the symmetric configuration of the flexure guide, large motion range, high linearity, and high stiffness ratio of the positioning stage are achieved. Secondly, the stiffness of the flexure guide is modeled by applying the two-port mechanical network method combining with the Castigliano's theorem and the static equilibrium equation of the structure. Afterwards, the dimension parameters of the flexure guide are optimized by applying the stiffness model to maximize the motion stiffness and the stiffness ratio of the positioning stage. Model validation and performance evaluation are conducted via finite element analysis (FEA). Finally, a prototype of the nanopositioning stage is fabricated, and the classical feed-forward PID (FF-PID) controller is employed to improve its motion accuracy. Experimental results show that the proposed positioning stage can achieve 5 mm motion range, 20 nm motion resolution, 20 nm positioning accuracy at the maximum output position, and micron tracking accuracy for both sinusoidal trajectory and triangular trajectory under the closed-loop controller.

ACS Style

Miao Yang; Chi Zhang; Xiaolu Huang; Si-Lu Chen; Guilin Yang. A Long Stroke Nanopositioning Stage with Annular Flexure Guides. IEEE/ASME Transactions on Mechatronics 2021, PP, 1 -1.

AMA Style

Miao Yang, Chi Zhang, Xiaolu Huang, Si-Lu Chen, Guilin Yang. A Long Stroke Nanopositioning Stage with Annular Flexure Guides. IEEE/ASME Transactions on Mechatronics. 2021; PP (99):1-1.

Chicago/Turabian Style

Miao Yang; Chi Zhang; Xiaolu Huang; Si-Lu Chen; Guilin Yang. 2021. "A Long Stroke Nanopositioning Stage with Annular Flexure Guides." IEEE/ASME Transactions on Mechatronics PP, no. 99: 1-1.

Journal article
Published: 13 May 2021 in Actuators
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The soft robots actuated by pressure, cables, thermal, electrosorption, combustion and smart materials are usually faced with the problems of poor portability, noise, weak load capacity, small deformation and high driving voltages. In this paper, a novel pneumatic generator for soft robots based on the gas-liquid reversible transition is proposed, which has the advantages of large output force, easy deformation, strong load capacity and high flexibility. The pressure of the pneumatic generator surges or drops flexibly through the reversible transformation between liquid and gas phase, making the soft actuator stretch or contract regularly, without external motors, compressors and pressure-regulating components. The gas-liquid reversible-transition actuation process is modeled to analyze its working mechanism and characteristics. The pressure during the pressurization stage increases linearly with a rate regulated by the heating power and gas volume. It decreases exponentially with the exponential term as a quadratic function of time at the fast depressurization stage, while with the exponential term as a linear function of time at the slow depressurization stage. The drop rate can be adjusted by changing the gas volume and cooling conditions. Furthermore, effectiveness has been verified through experiments of the prototype. The pressure reaches 25 bar with a rising rate of +3.935 bar/s when 5 mL weak electrolyte solution is heated at 800 W, and the maximum depressurization rate in air cooling is –3.796 bar/s. The soft finger actuated by the pneumatic generator can bend with an angular displacement of 67.5°. The proposed pneumatic generator shows great potential to be used for the structure, driving and sensing integration of artificial muscles.

ACS Style

Guolong Zhang; Guilin Yang; Yimin Deng; Tianjiang Zheng; Zaojun Fang; Hao Zhang; Xiongyu Jiang. A Pneumatic Generator Based on Gas-Liquid Reversible Transition for Soft Robots. Actuators 2021, 10, 103 .

AMA Style

Guolong Zhang, Guilin Yang, Yimin Deng, Tianjiang Zheng, Zaojun Fang, Hao Zhang, Xiongyu Jiang. A Pneumatic Generator Based on Gas-Liquid Reversible Transition for Soft Robots. Actuators. 2021; 10 (5):103.

Chicago/Turabian Style

Guolong Zhang; Guilin Yang; Yimin Deng; Tianjiang Zheng; Zaojun Fang; Hao Zhang; Xiongyu Jiang. 2021. "A Pneumatic Generator Based on Gas-Liquid Reversible Transition for Soft Robots." Actuators 10, no. 5: 103.

Review
Published: 13 April 2021 in Actuators
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In high-end testing and manufacturing equipment, a trend exists whereby the traditional servo feed system with a ball screw and rotary motor will gradually be replaced by a direct drive system. The precision motion system driven by a permanent magnet linear synchronous motor (PMLSM) offers several advantages, including high speed, high acceleration, and high positioning accuracy. However, the operating precision of the feed device will be affected by the PMLSM robustness to nonlinear and uncertain disturbances, such as cogging force, friction, thermal effects, residual vibration, and load disturbance. The aim of this paper was to provide a survey on disturbance analysis and suppression approaches to improve the dynamic performance of PMLSM motion systems. First, the origin and inhibition methods of thrust ripple and friction are presented. Second, the mechanisms, modeling approaches, and mitigation measures of thermal effects are introduced. Additionally, the residual vibration characteristics and suppression methods are discussed. Finally, disturbance observers of periodic and aperiodic loads are introduced. These suppression methods from structural design and control compensation are then discussed in order to improve the dynamic response and steady-state accuracy of PMLSM.

ACS Style

Xuezhen Wang; Feixue Chen; Renfeng Zhu; Xiaolu Huang; Na Sang; Guilin Yang; Chi Zhang. A Review on Disturbance Analysis and Suppression for Permanent Magnet Linear Synchronous Motor. Actuators 2021, 10, 77 .

AMA Style

Xuezhen Wang, Feixue Chen, Renfeng Zhu, Xiaolu Huang, Na Sang, Guilin Yang, Chi Zhang. A Review on Disturbance Analysis and Suppression for Permanent Magnet Linear Synchronous Motor. Actuators. 2021; 10 (4):77.

Chicago/Turabian Style

Xuezhen Wang; Feixue Chen; Renfeng Zhu; Xiaolu Huang; Na Sang; Guilin Yang; Chi Zhang. 2021. "A Review on Disturbance Analysis and Suppression for Permanent Magnet Linear Synchronous Motor." Actuators 10, no. 4: 77.

Journal article
Published: 14 March 2021 in Actuators
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Installing force-controlled end-effectors on the end of industrial robots has become the mainstream method for robot force control. Additionally, during the polishing process, contact force stability has an important impact on polishing quality. However, due to the difference between the robot structure and the force-controlled end-effector, in the polishing operation, direct force control will have impact during the transition from noncontact to contact between the tool and the workpiece. Although impedance control can solve this problem, industrial robots still produce vibrations with high inertia and low stiffness. Therefore, this research proposes an impedance matching control strategy based on traditional direct force control and impedance control methods to improve this problem. This method’s primary purpose is to avoid force vibration in the contact phase and maintain force–tracking performance during the dynamic tracking phase. Simulation and experimental results show that this method can smoothly track the contact force and reduce vibration compared with traditional force control and impedance control.

ACS Style

Junjie Dai; Chin-Yin Chen; Renfeng Zhu; Guilin Yang; Chongchong Wang; Shaoping Bai. Suppress Vibration on Robotic Polishing with Impedance Matching. Actuators 2021, 10, 59 .

AMA Style

Junjie Dai, Chin-Yin Chen, Renfeng Zhu, Guilin Yang, Chongchong Wang, Shaoping Bai. Suppress Vibration on Robotic Polishing with Impedance Matching. Actuators. 2021; 10 (3):59.

Chicago/Turabian Style

Junjie Dai; Chin-Yin Chen; Renfeng Zhu; Guilin Yang; Chongchong Wang; Shaoping Bai. 2021. "Suppress Vibration on Robotic Polishing with Impedance Matching." Actuators 10, no. 3: 59.

Journal article
Published: 11 December 2020 in Applied Sciences
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Inspired by the structure of human arms, a modular cable-driven human-like robotic arm (CHRA) is developed for safe human–robot interaction. Due to the unilateral driving properties of the cables, the CHRA is redundantly actuated and its stiffness can be adjusted by regulating the cable tensions. Since the trajectory of the 3-DOF joint module (3DJM) of the CHRA is a curve on Lie group SO(3), an enhanced stiffness model of the 3DJM is established by the covariant derivative of the load to the displacement on SO(3). In this paper, we focus on analyzing the how cable tension distribution problem oriented the enhanced stiffness of the 3DJM of the CHRA for stiffness adjustment. Due to the complexity of the enhanced stiffness model, it is difficult to solve the cable tensions from the desired stiffness analytically. The problem of stiffness-oriented cable tension distribution (SCTD) is formulated as a nonlinear optimization model. The optimization model is simplified using the symmetry of the enhanced stiffness model, the rank of the Jacobian matrix and the equilibrium equation of the 3DJM. Since the objective function is too complicated to compute the gradient, a method based on the genetic algorithm is proposed for solving this optimization problem, which only utilizes the objective function values. A comprehensive simulation is carried out to validate the effectiveness of the proposed method.

ACS Style

Kaisheng Yang; Guilin Yang; Chi Zhang; ChinYin Chen; Tianjiang Zheng; Yuguo Cui; Tehuan Chen. Cable Tension Analysis Oriented the Enhanced Stiffness of a 3-DOF Joint Module of a Modular Cable-Driven Human-Like Robotic Arm. Applied Sciences 2020, 10, 8871 .

AMA Style

Kaisheng Yang, Guilin Yang, Chi Zhang, ChinYin Chen, Tianjiang Zheng, Yuguo Cui, Tehuan Chen. Cable Tension Analysis Oriented the Enhanced Stiffness of a 3-DOF Joint Module of a Modular Cable-Driven Human-Like Robotic Arm. Applied Sciences. 2020; 10 (24):8871.

Chicago/Turabian Style

Kaisheng Yang; Guilin Yang; Chi Zhang; ChinYin Chen; Tianjiang Zheng; Yuguo Cui; Tehuan Chen. 2020. "Cable Tension Analysis Oriented the Enhanced Stiffness of a 3-DOF Joint Module of a Modular Cable-Driven Human-Like Robotic Arm." Applied Sciences 10, no. 24: 8871.

Journal article
Published: 10 December 2020 in Actuators
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Velocity ripple is one of the common problems of modular drive joints, which easily induces vibration and noise and affects motion accuracy. In order to improve the motion control accuracy, a robust method based on dual encoders to eliminate velocity ripple is proposed in this paper. The method contains a velocity ripple elimination controller (VREC), a rigid-body velocity solver (RBVS), and a proportional–integral (PI) controller. Feeding back the VREC output to the PI controller based on the rigid-body velocity obtained from the weighted sum of dual encoders in the RBVS, an equivalent system damping term was added into the system. Therefore, the velocity ripple can be suppressed effectively with the adjustable damping term composed of control parameters. Above all, the proposed method has only one more parameter to further eliminate velocity ripple compared to the pure PI method and, meanwhile, has apparent advantages over the conventional method, such as fewer parameters and full frequency ripple elimination, as well as robustness to input disturbance and modular drive joint load inertia changes. This proposed method’s effectiveness is verified by simulations in MATLAB and experiments in the modular drive joint platform.

ACS Style

Qiang Xin; Chin-Yin Chen; Chongchong Wang; Guilin Yang; Chi Zhang; Zaojun Fang; Chun Lung Philip Chen. A Robust Method Based on Dual Encoders to Eliminate Velocity Ripple for Modular Drive Joints. Actuators 2020, 9, 135 .

AMA Style

Qiang Xin, Chin-Yin Chen, Chongchong Wang, Guilin Yang, Chi Zhang, Zaojun Fang, Chun Lung Philip Chen. A Robust Method Based on Dual Encoders to Eliminate Velocity Ripple for Modular Drive Joints. Actuators. 2020; 9 (4):135.

Chicago/Turabian Style

Qiang Xin; Chin-Yin Chen; Chongchong Wang; Guilin Yang; Chi Zhang; Zaojun Fang; Chun Lung Philip Chen. 2020. "A Robust Method Based on Dual Encoders to Eliminate Velocity Ripple for Modular Drive Joints." Actuators 9, no. 4: 135.

Journal article
Published: 29 September 2020 in IEEE Transactions on Industrial Electronics
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Linear motor system is normally a low-damping system to achieve high speed and high acceleration without mechanical transmission devices. Therefore, the vibration issue is serious especially in the high-speed start-stop motion process, which deteriorates the control precision and decreases work efficiency. This paper proposes a dual-sided hybrid excitation eddy current damper (ECD) to suppress the vibration of the linear motor during decelerating and stopping stages. This ECD is composed of a copper plate and two E-shape hybrid excited electromagnets. The plate is sandwiched between these dual-sided electromagnets to generate the eddy current damping force when it moves and the ECD current is excited simultaneously. The analytical model of the ECD considering leakage flux is established and verified by FEA with the deviation less than 7%. Experiments are conducted on the prototype to verify the effectiveness of its vibration restraint performance. With the active damping, the peak amplitude of the position error and the settling time are reduced by 68.88% and 33.33%, respectively.

ACS Style

Na Sang; Chi Zhang; Jinhua Chen; Sheng Lin; Shuheng Qiu; Rong Li; Guilin Yang. A Dual-Sided Hybrid Excitation Eddy Current Damper for Vibration Suppression in Low Damping Linear Motor System. IEEE Transactions on Industrial Electronics 2020, 68, 9897 -9907.

AMA Style

Na Sang, Chi Zhang, Jinhua Chen, Sheng Lin, Shuheng Qiu, Rong Li, Guilin Yang. A Dual-Sided Hybrid Excitation Eddy Current Damper for Vibration Suppression in Low Damping Linear Motor System. IEEE Transactions on Industrial Electronics. 2020; 68 (10):9897-9907.

Chicago/Turabian Style

Na Sang; Chi Zhang; Jinhua Chen; Sheng Lin; Shuheng Qiu; Rong Li; Guilin Yang. 2020. "A Dual-Sided Hybrid Excitation Eddy Current Damper for Vibration Suppression in Low Damping Linear Motor System." IEEE Transactions on Industrial Electronics 68, no. 10: 9897-9907.

Journal article
Published: 02 March 2020 in Symmetry
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This paper proposes a method for kinematic calibration of a 3T1R, 4-degree-of-freedom symmetrical parallel manipulator driven by two pairs of linear actuators. The kinematic model of the individual branched chain is established by using the local product of exponentials formula. Based on this model, the model of the end effector’s pose error is established from a pair of symmetrical branched chains, and a recursive least square method is applied for the parameter identification. By installing built-in sensors at the passive joints, a calibration method for a serial manipulator is eventually extended to this parallel manipulator. Specifically, the sensor installed at the second revolute joint of each branched chain is saved, replaced by numerical calculation according to kinematic constraints. The simulation results validate the effectiveness of the proposed kinematic error modeling and identification methods. The procedure for pre-processing compensation on this 3T1R parallel manipulator is eventually given to improve its absolute positioning accuracy, using the inverse of the calibrated kinematic model.

ACS Style

Fengxuan Zhang; Silu Chen; Yongyi He; Guoyun Ye; Chi Zhang; Guilin Yang. A Kinematic Calibration Method of a 3T1R 4-Degree-of-Freedom Symmetrical Parallel Manipulator. Symmetry 2020, 12, 357 .

AMA Style

Fengxuan Zhang, Silu Chen, Yongyi He, Guoyun Ye, Chi Zhang, Guilin Yang. A Kinematic Calibration Method of a 3T1R 4-Degree-of-Freedom Symmetrical Parallel Manipulator. Symmetry. 2020; 12 (3):357.

Chicago/Turabian Style

Fengxuan Zhang; Silu Chen; Yongyi He; Guoyun Ye; Chi Zhang; Guilin Yang. 2020. "A Kinematic Calibration Method of a 3T1R 4-Degree-of-Freedom Symmetrical Parallel Manipulator." Symmetry 12, no. 3: 357.

Journal article
Published: 21 November 2019 in Energies
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A mobile robot with no less than two powered caster wheels (PCWs) has the ability to perform omnidirectional motions and belongs to a redundantly actuated system. Redundant actuation will bring the issue of non-uniqueness of actuating torque distribution, and inappropriate choices of torque distribution schemes will lead to unexpected large required actuating torques and extra energy consumption. This paper proposes a new torque distribution optimization approach based on a gradient projection method (GPM) for the omnidirectional mobile robot (OMR) with direct drive PCWs. It can significantly reduce the maximal required actuating torque and the energy consumption of the system. The modular kinematic and dynamic modeling method is presented first, which is suitable for an arbitrary number of employed PCWs, as well as their install positions in the chassis. The detailed energy consumption model of the OMR, including output energy consumption and electrical energy loss, is formulated through experimental testing. The effectiveness of the proposed algorithms is validated by simulation examples. Lastly, the computational efficiency of the method is verified

ACS Style

Wenji Jia; Guilin Yang; Chongchong Wang; Chi Zhang; ChinYin Chen; Zaojun Fang; Jia; Yang; Wang; Chen; Fang; And Zaojun Fang. Energy-Efficient Torque Distribution Optimization for an Omnidirectional Mobile Robot with Powered Caster Wheels. Energies 2019, 12, 4417 .

AMA Style

Wenji Jia, Guilin Yang, Chongchong Wang, Chi Zhang, ChinYin Chen, Zaojun Fang, Jia, Yang, Wang, Chen, Fang, And Zaojun Fang. Energy-Efficient Torque Distribution Optimization for an Omnidirectional Mobile Robot with Powered Caster Wheels. Energies. 2019; 12 (23):4417.

Chicago/Turabian Style

Wenji Jia; Guilin Yang; Chongchong Wang; Chi Zhang; ChinYin Chen; Zaojun Fang; Jia; Yang; Wang; Chen; Fang; And Zaojun Fang. 2019. "Energy-Efficient Torque Distribution Optimization for an Omnidirectional Mobile Robot with Powered Caster Wheels." Energies 12, no. 23: 4417.

Journal article
Published: 11 September 2019 in Symmetry
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In this paper, we focus on the issues pertaining to stiffness-oriented cable tension distributionfor a symmetrical 6-cable-driven spherical joint module (6-CSJM), which can be employed to constructmodular cable-driven manipulators. Due to the redundant actuation of the 6-CSJM, three cables areemployed for position regulation by adjusting the cable lengths, and the remaining three cables areutilized for stiffness regulation by adjusting the cable tensions, i.e., the position and stiffness can beregulated simultaneously. To increase the range of stiffness regulation, a variable stiffness device(VSD) is designed, which is serially connected to the driving cable. Since the stiffness model of the6-CSJM with VSDs is very complicated, it is difficult to directly solve the cable tensions from thedesired stiffness. The stiffness-oriented cable tension distribution issue is formulated as a nonlinearconstrained optimization problem, and the Complex method is employed to obtain optimal tensiondistributions. Furthermore, to significantly improve the computation efficiency, a decision variableelimination technique is proposed to deal with the equality constraints, which reduces decision variablesfrom 6 to 3. A comprehensive simulation study is conducted to verify the effectiveness of the proposedmethod, showing that the 6-CSJM can accurately achieve the desired stiffness through cable tensionoptimization.

ACS Style

Yang; Si-Lu Chen; Wang; Chi Zhang; Zaojun Fang; Tianjiang Zheng; Chen; Fang; Kaisheng Yang; Guilin Yang; Yi Wang; Chongchong Wang. Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven Mechanism. Symmetry 2019, 11, 1158 .

AMA Style

Yang, Si-Lu Chen, Wang, Chi Zhang, Zaojun Fang, Tianjiang Zheng, Chen, Fang, Kaisheng Yang, Guilin Yang, Yi Wang, Chongchong Wang. Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven Mechanism. Symmetry. 2019; 11 (9):1158.

Chicago/Turabian Style

Yang; Si-Lu Chen; Wang; Chi Zhang; Zaojun Fang; Tianjiang Zheng; Chen; Fang; Kaisheng Yang; Guilin Yang; Yi Wang; Chongchong Wang. 2019. "Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven Mechanism." Symmetry 11, no. 9: 1158.

Conference paper
Published: 02 August 2019 in Algorithms and Data Structures
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This paper presents a novel dynamic modelling approach for omnidirectional mobile robots (OMRs) with powered caster wheels (PCWs). For the conventional dynamic modeling, the internal forces induced by the redundant actuation of the OMR are not analyzed, which will affect the dynamic performance and result in unstable robot motions. To eliminate the internal forces, a general nonsqueezing load distribution model is proposed and integrated with the dynamic model of the OMR. By the nonsqueezing dynamic model, the driving torques applied by the PCWs all contribute to the motion of the OMR. Consequently, the required driving torques are reduced compared to the conventional torque distribution method, which will improve the dynamic performance and energy efficiency for the OMR. To illustrate the effectiveness of the nonsqueezing dynamic model, simulation examples are provided.

ACS Style

Wenji Jia; Guilin Yang; Chongchong Wang; Qiang Liu; Zaojun Fang; ChinYin Chen. A Nonsqueezing Torque Distribution Method for an Omnidirectional Mobile Robot with Powered Castor Wheels. Algorithms and Data Structures 2019, 703 -714.

AMA Style

Wenji Jia, Guilin Yang, Chongchong Wang, Qiang Liu, Zaojun Fang, ChinYin Chen. A Nonsqueezing Torque Distribution Method for an Omnidirectional Mobile Robot with Powered Castor Wheels. Algorithms and Data Structures. 2019; ():703-714.

Chicago/Turabian Style

Wenji Jia; Guilin Yang; Chongchong Wang; Qiang Liu; Zaojun Fang; ChinYin Chen. 2019. "A Nonsqueezing Torque Distribution Method for an Omnidirectional Mobile Robot with Powered Castor Wheels." Algorithms and Data Structures , no. : 703-714.

Conference paper
Published: 02 August 2019 in Algorithms and Data Structures
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A two-step self-calibration method based on portable calibration devices is proposed in this paper. In the first step, the distance errors in a large-range workspace is utilized to calibrate the manipulator. In the second step, the position errors is utilized to calibrate an external world frame to describe all the coordinate systems in a robot cell and further enhance the calibration results in the first step. For each step, a linear and simplified calibration model is then formulated by employing the local POE formula and introducing the position adjoint conversion matrix. Based on the calibration model, portable and cost-effective self-calibration devices are designed, which consist of a spherical center measuring device, a movable ball bar and Tri-ball plate. The calibration devices presented can obtain distance errors in a large-range workspace and position errors in a local workspace of a manipulator, which enhance the reliability of the calibration results and set an external reference frame. Finally, an accurate kinematic model with respect to the external user-defined frame is given, which enables the off-line programming to be more accurate and effective. The simulation results demonstrate that the proposed two-step self-calibration algorithm is effective and robust.

ACS Style

Lefeng Gu; Guilin Yang; Zaojun Fang; Wenjun Shen; Tianjiang Zheng; ChinYin Chen; Chi Zhang. A Two-Step Self-calibration Method with Portable Measurement Devices for Industrial Robots Based on POE Formula. Algorithms and Data Structures 2019, 715 -727.

AMA Style

Lefeng Gu, Guilin Yang, Zaojun Fang, Wenjun Shen, Tianjiang Zheng, ChinYin Chen, Chi Zhang. A Two-Step Self-calibration Method with Portable Measurement Devices for Industrial Robots Based on POE Formula. Algorithms and Data Structures. 2019; ():715-727.

Chicago/Turabian Style

Lefeng Gu; Guilin Yang; Zaojun Fang; Wenjun Shen; Tianjiang Zheng; ChinYin Chen; Chi Zhang. 2019. "A Two-Step Self-calibration Method with Portable Measurement Devices for Industrial Robots Based on POE Formula." Algorithms and Data Structures , no. : 715-727.

Conference paper
Published: 02 August 2019 in Algorithms and Data Structures
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This paper presents the concept design of a novel three degrees of freedom (DOF) redundantly actuated planar compliant parallel mechanism (CPM). The developed CPM is a 4-PPR configuration mechanism based on leaf type flexures and actuated by four voice coil motors (VCMs). The distribute compliance design and the rotation-symmetric configuration guarantees large motion range, translation decouple as well as high structural compactness of the CPM. The stiffness model and kinetostatic model of the CPM are established via the compliance matrix method. Finite element analysis (FEA) is conducted to validate the established models. Numerical results show that the proposed CPM can achieve a workspace of ±2.5 mm × ± 2.5 mm × ± 2.5° in its three working directions. Moreover, the actuation forces of VCMs in the CPM can be decreased significantly by apply the redundantly actuated configuration.

ACS Style

Miao Yang; Chi Zhang; Hongtao Yu; Xiaolu Huang; Guilin Yang; Zaojun Fang. Kinetostatic Modeling of Redundantly Actuated Planar Compliant Parallel Mechanism. Algorithms and Data Structures 2019, 358 -369.

AMA Style

Miao Yang, Chi Zhang, Hongtao Yu, Xiaolu Huang, Guilin Yang, Zaojun Fang. Kinetostatic Modeling of Redundantly Actuated Planar Compliant Parallel Mechanism. Algorithms and Data Structures. 2019; ():358-369.

Chicago/Turabian Style

Miao Yang; Chi Zhang; Hongtao Yu; Xiaolu Huang; Guilin Yang; Zaojun Fang. 2019. "Kinetostatic Modeling of Redundantly Actuated Planar Compliant Parallel Mechanism." Algorithms and Data Structures , no. : 358-369.

Journal article
Published: 24 April 2019 in Energies
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The inductive reaction sphere (RS) brings the benefit of simple, economical, and miniaturized design, and it is capable of multi-DOF torque generation. Thus, it is a suitable choice for the angular momentum exchange actuator in attitude control of micro-spacecrafts. To synthesize symmetric distribution of eddy currents and improve the speed and stability of rotation, a novel 4-pole winding design is proposed. However, the developed simplified analytical model shows that reduced pole number degrades the torque generation. To enhance the output torque of 4-pole RS, its curved cores and electromagnets are redesigned to enable the side teeth to be functional. As the analytical torque model for the RS with the slotted cores is not available, a constrained optimization problem is formulated, and the optimized parameters are calculated based on the prediction model from supported vector machine and finite element analysis. The lab prototypes are developed to validate the proposed design and test the speed performance. The experimental results show that the 4-pole RS prototype obtains a stable rotation over 700 rpm about X, Y and Z axis respectively with the angular momentum of 0.08 kg·m 2 /s, being superior to the 6-pole counterpart.

ACS Style

Liming Yuan; Jie Zhang; Si-Lu Chen; Yusheng Liang; Jinhua Chen; Chi Zhang; Guilin Yang. Design and Optimization of a Magnetically Levitated Inductive Reaction Sphere for Spacecraft Attitude Control. Energies 2019, 12, 1553 .

AMA Style

Liming Yuan, Jie Zhang, Si-Lu Chen, Yusheng Liang, Jinhua Chen, Chi Zhang, Guilin Yang. Design and Optimization of a Magnetically Levitated Inductive Reaction Sphere for Spacecraft Attitude Control. Energies. 2019; 12 (8):1553.

Chicago/Turabian Style

Liming Yuan; Jie Zhang; Si-Lu Chen; Yusheng Liang; Jinhua Chen; Chi Zhang; Guilin Yang. 2019. "Design and Optimization of a Magnetically Levitated Inductive Reaction Sphere for Spacecraft Attitude Control." Energies 12, no. 8: 1553.

Conference paper
Published: 05 September 2018 in Programmieren für Ingenieure und Naturwissenschaftler
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The impedance control of most flexible joints generally has a cascaded structure with both inner torque feedback and outer position feedback loops. The torque control accuracy and bandwidth have great effects on their impedance control performance. But in practical applications, the improvement of the torque control performance are limited by many factors, such as the high noise level of torque sensor and the model uncertainty and nonlinearity. This paper proposes a dual-loop torque control structure with a dual-frequency control in the inner loop and a disturbance observer in the outer loop. The dual-frequency control uses a frequency-separated controller design method that employs two controllers in low and high frequency, respectively. The high frequency controller with relatively conservative gains is designed to ensure the system stability. Thus, the low frequency controller can focus on improving the torque control accuracy, without experiencing the limitations of system stability and torque sensor noise. Moreover, the disturbance observer is introduced to compensate the model uncertainty and nonlinearity. Simulations are conducted to verify the effectiveness of the proposed dual-loop dual-frequency torque controller.

ACS Style

Chongchong Wang; Guilin Yang; Chin-Yin Chen; Qiang Xin. A Dual-Loop Dual-Frequency Torque Control Method for Flexible Robotic Joint. Programmieren für Ingenieure und Naturwissenschaftler 2018, 561 -570.

AMA Style

Chongchong Wang, Guilin Yang, Chin-Yin Chen, Qiang Xin. A Dual-Loop Dual-Frequency Torque Control Method for Flexible Robotic Joint. Programmieren für Ingenieure und Naturwissenschaftler. 2018; ():561-570.

Chicago/Turabian Style

Chongchong Wang; Guilin Yang; Chin-Yin Chen; Qiang Xin. 2018. "A Dual-Loop Dual-Frequency Torque Control Method for Flexible Robotic Joint." Programmieren für Ingenieure und Naturwissenschaftler , no. : 561-570.

Conference paper
Published: 05 September 2018 in Communications in Computer and Information Science
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Omni-directional robot has the ability of 0–360° motions are received much attention in recent years. They have locomotive advantages and are widely deployed in larger range of application fields especially in constrained narrow space. This paper introduce a novel omni-directional robot with four powered caster wheels, each caster wheel has two degree of freedom (DOF) and made by two outer rotor motors connected mechanically. The kinematics of the system are analyzed, the prototype has been developed. The developed omni-directional robot is able to realize the moving motions along x and y axis and rotate about z-axis. All of the software are implemented on Robot Operation Systems (ROS) and the velocity trajectory planner is employed and embedded in the software. The squared position curve is given and tested by using lase tracker, the result is analyzed, and it shown that the following error of the system is about 2.5 cm while the width of the square is 70 cm.

ACS Style

Tianjiang Zheng; Jie Zhang; Weijun Wang; Sunhao Song; Junjie Li; Qiang Liu; Guodong Chen; Guilin Yang; Chin-Yin Chen; Chi Zhang. Design and Control of Two Degree of Freedom Powered Caster Wheels Based Omni-Directional Robot. Communications in Computer and Information Science 2018, 548 -560.

AMA Style

Tianjiang Zheng, Jie Zhang, Weijun Wang, Sunhao Song, Junjie Li, Qiang Liu, Guodong Chen, Guilin Yang, Chin-Yin Chen, Chi Zhang. Design and Control of Two Degree of Freedom Powered Caster Wheels Based Omni-Directional Robot. Communications in Computer and Information Science. 2018; ():548-560.

Chicago/Turabian Style

Tianjiang Zheng; Jie Zhang; Weijun Wang; Sunhao Song; Junjie Li; Qiang Liu; Guodong Chen; Guilin Yang; Chin-Yin Chen; Chi Zhang. 2018. "Design and Control of Two Degree of Freedom Powered Caster Wheels Based Omni-Directional Robot." Communications in Computer and Information Science , no. : 548-560.

Review
Published: 20 August 2018 in Energies
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The Free-piston linear generator (FPLG) is a novel energy converter which can generate electrical energy and is regarded as a potential technology for solving the restriction of the short driving range of electric vehicles. Getting rid of the crank and flywheel mechanism, FPLG obtains some advantages of a variable compression ratio, compact size, and highly-efficient power generation. Linear electric machine (LEM) design and piston motion control are two key technologies of FPLG. However, they are currently the main obstacles to the favorable performance of FPLG. LEM being used to drive the piston motion or generate electric energy is an integrated design including a motor/generator. Various types of LEMs are investigated, and suitable application scenarios based on advantages and disadvantages are discussed. The FPLG’s controller is used to ensure stable operation and highly-efficient output. However, cycle-to-cycle variations of the combustion process and motor/generator switching make it difficult to improve the performance of the piston motion control. Comments on the advantages and disadvantages of different piston motion control methods are also given in this paper.

ACS Style

Xuezhen Wang; Feixue Chen; Renfeng Zhu; Guilin Yang; Chi Zhang. A Review of the Design and Control of Free-Piston Linear Generator. Energies 2018, 11, 2179 .

AMA Style

Xuezhen Wang, Feixue Chen, Renfeng Zhu, Guilin Yang, Chi Zhang. A Review of the Design and Control of Free-Piston Linear Generator. Energies. 2018; 11 (8):2179.

Chicago/Turabian Style

Xuezhen Wang; Feixue Chen; Renfeng Zhu; Guilin Yang; Chi Zhang. 2018. "A Review of the Design and Control of Free-Piston Linear Generator." Energies 11, no. 8: 2179.

Journal article
Published: 05 January 2018 in Energies
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This paper presents a control strategy to improve the output power for a single-cylinder two-stroke free-piston linear generator (FPLG). The comprehensive simulation model of this FPLG is established and the operation principle is introduced. The factors that affect the output power are analyzed theoretically. The characteristics of the piston motion are studied. Considering the different features of the piston motion respectively in acceleration and deceleration phases, a ladder-like electromagnetic force control strategy is proposed. According to the status of the linear electric machine, the reference profile of the electromagnetic force is divided into four ladder-like stages during one motion cycle. The piston motions, especially the dead center errors, are controlled by regulating the profile of the electromagnetic force. The feasibility and advantage of the proposed control strategy are verified through comparison analyses with two conventional control strategies via MatLab/Simulink. The results state that the proposed control strategy can improve the output power by around 7–10% with the same fuel cycle mass.

ACS Style

Chi Zhang; Feixue Chen; Long Li; Zhaoping Xu; Liang Liu; Guilin Yang; Hongyuan Lian; Yingzhong Tian. A Free-Piston Linear Generator Control Strategy for Improving Output Power. Energies 2018, 11, 135 .

AMA Style

Chi Zhang, Feixue Chen, Long Li, Zhaoping Xu, Liang Liu, Guilin Yang, Hongyuan Lian, Yingzhong Tian. A Free-Piston Linear Generator Control Strategy for Improving Output Power. Energies. 2018; 11 (1):135.

Chicago/Turabian Style

Chi Zhang; Feixue Chen; Long Li; Zhaoping Xu; Liang Liu; Guilin Yang; Hongyuan Lian; Yingzhong Tian. 2018. "A Free-Piston Linear Generator Control Strategy for Improving Output Power." Energies 11, no. 1: 135.

Journal article
Published: 14 February 2017 in Energies
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Free-piston linear generators (FPLGs) have attractive application prospects for hybrid electric vehicles (HEVs) owing to their high-efficiency, low-emissions and multi-fuel flexibility. In order to achieve long-term stable operation, the hybrid system design and full-cycle operation strategy are essential factors that should be considered. A 25 kW FPLG consisting of an internal combustion engine (ICE), a linear electric machine (LEM) and a gas spring (GS) is designed. To improve the power density and generating efficiency, the LEM is assembled with two modular flat-type double-sided PM LEM units, which sandwich a common moving-magnet plate supported by a middle keel beam and bilateral slide guide rails to enhance the stiffness of the moving plate. For the convenience of operation processes analysis, the coupling hybrid system is modeled mathematically and a full cycle simulation model is established. Top-level systemic control strategies including the starting, stable operating, fault recovering and stopping strategies are analyzed and discussed. The analysis results validate that the system can run stably and robustly with the proposed full cycle operation strategy. The effective electric output power can reach 26.36 kW with an overall system efficiency of 36.32%.

ACS Style

Peng Sun; Chi Zhang; Jinhua Chen; Fei Zhao; Youyong Liao; Guilin Yang; ChinYin Chen. Hybrid System Modeling and Full Cycle Operation Analysis of a Two-Stroke Free-Piston Linear Generator. Energies 2017, 10, 213 .

AMA Style

Peng Sun, Chi Zhang, Jinhua Chen, Fei Zhao, Youyong Liao, Guilin Yang, ChinYin Chen. Hybrid System Modeling and Full Cycle Operation Analysis of a Two-Stroke Free-Piston Linear Generator. Energies. 2017; 10 (2):213.

Chicago/Turabian Style

Peng Sun; Chi Zhang; Jinhua Chen; Fei Zhao; Youyong Liao; Guilin Yang; ChinYin Chen. 2017. "Hybrid System Modeling and Full Cycle Operation Analysis of a Two-Stroke Free-Piston Linear Generator." Energies 10, no. 2: 213.

Journal article
Published: 16 December 2016 in Energies
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This paper proposes a decoupling design approach for a free-piston linear generator (FPLG) constituted of three key components, including a combustion chamber, a linear generator and a gas spring serving as rebounding device. The approach is based on the distribution of the system power and efficiency, which provides a theoretical design method from the viewpoint of the overall power and efficiency demands. The energy flow and conversion processes of the FPLG are analyzed, and the power and efficiency demands of the thermal-mechanical and mechanical-electrical energy conversion are confirmed. The energy and efficiency distributions of the expansion and compression strokes within a single stable operation cycle are analyzed and determined. Detailed design methodologies of crucial geometric dimensions and operational parameters of each key component are described. The feasibility of the proposed decoupling design approach is validated through several design examples with different output power.

ACS Style

Peng Sun; Chi Zhang; Jinhua Chen; Fei Zhao; Youyong Liao; Guilin Yang; ChinYin Chen. Decoupling Design and Verification of a Free-Piston Linear Generator. Energies 2016, 9, 1067 .

AMA Style

Peng Sun, Chi Zhang, Jinhua Chen, Fei Zhao, Youyong Liao, Guilin Yang, ChinYin Chen. Decoupling Design and Verification of a Free-Piston Linear Generator. Energies. 2016; 9 (12):1067.

Chicago/Turabian Style

Peng Sun; Chi Zhang; Jinhua Chen; Fei Zhao; Youyong Liao; Guilin Yang; ChinYin Chen. 2016. "Decoupling Design and Verification of a Free-Piston Linear Generator." Energies 9, no. 12: 1067.